using CartographerSharp.Mapping;
using RobotNet10.RobotApp.SLAM.Cartographer;

namespace RobotNet10.RobotApp.SLAM.Cartographer;

public static class CartographerExtensions
{
    extension(IServiceCollection services)
    {
        public IServiceCollection AddCartographer(IConfigurationSection configuration)
        {
            // Cartographer / Localization services
            services.Configure<CartographerConfiguration>(configuration);

            // Core Cartographer service (singleton - manages state machine, MapBuilder, sensor pipeline, localization, and occupancy grid)
            // Also implements IHostedService to start automatically
            services.AddSingleton<CartographerService>();
            services.AddSingleton<ISLAMService>(sp => sp.GetRequiredService<CartographerService>());
            services.AddHostedService(sp => sp.GetRequiredService<CartographerService>());

            return services;
        }
    }

    
}